/*
 * Copyright (c) 2011-2025, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/main/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#pragma once

#include <dart8/comps/component_category.hpp>

#include <Eigen/Dense>
#include <Eigen/Geometry>

namespace dart8::comps {

/// Spatial transform (position + orientation)
///
/// **Internal Implementation Detail** - Not exposed in public API
struct Transform
{
  DART8_PROPERTY_COMPONENT(Transform);

  Eigen::Vector3d position = Eigen::Vector3d::Zero();
  Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity();
};

/// Spatial velocity (linear + angular)
///
/// **Internal Implementation Detail** - Not exposed in public API
struct Velocity
{
  DART8_PROPERTY_COMPONENT(Velocity);

  Eigen::Vector3d linear = Eigen::Vector3d::Zero();
  Eigen::Vector3d angular = Eigen::Vector3d::Zero();
};

/// Mass properties
///
/// **Internal Implementation Detail** - Not exposed in public API
struct MassProperties
{
  DART8_PROPERTY_COMPONENT(MassProperties);

  double mass = 1.0;
  Eigen::Matrix3d inertia = Eigen::Matrix3d::Identity();
};

/// Force and torque accumulators
///
/// **Internal Implementation Detail** - Not exposed in public API
struct Force
{
  DART8_PROPERTY_COMPONENT(Force);

  Eigen::Vector3d force = Eigen::Vector3d::Zero();
  Eigen::Vector3d torque = Eigen::Vector3d::Zero();
};

} // namespace dart8::comps
